Abstract
In this paper, the authors' previous work on digital repetitive control is developed from the viewpoint of application. First, an advanced analysis of the design method based on the concept of a strictly. positive real system is performed, and brief proof is given that there always exist some proper values of the parameters in the control algorithm to satisfy the stability condition. The application to the MIMO case is also discussed, and a simulation result is presented. The method is applied to control a crane which is supposed to move repetitively between two given points. The control is aimed at stopping the crane accurately at the points without swing. The experiment demostrates that this method performs very well.
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